Accelerometer for CAN-Interface M-A552AC1x · The M-A552 is a three-axis digital output...

Rev.20191015

Accelerometer for CAN-Interface

M-A552AC1xData Sheet

(P/N: E91E60401x)

NOTICE No part of this material may be reproduced or duplicated in any form or by any means without the written permission of Seiko Epson. Seiko Epson reserves the right to make changes to this material without notice. Seiko Epson does not assume any liability of any kind arising out of any inaccuracies contained in this material or due to its application or use in any product or circuit and, further, there is no representation that this material is applicable to products requiring high level reliability, such as, medical products. Moreover, no license to any intellectual property rights is granted by implication or otherwise, and there is no representation or warranty that anything made in accordance with this material will be free from any patent or copyright infringement of a third party. When exporting the products or technology described in this material, you should comply with the applicable export control laws and regulations and follow the procedures required by such laws and regulations. You are requested not to use, to resell, to export and/or to otherwise dispose of the products (and any technical information furnished, if any) for the development and/or manufacture of weapon of mass destruction or for other military purposes. All brands or product names mentioned herein are trademarks and/or registered trademarks of their respective companies.

©SEIKO EPSON CORPORATION 2019, All rights reserved.

i Seiko Epson Corporation M-A552AC1 Rev.20191015

Table of Contents

1 OVERVIEW .................................................................................................................. 1 1.1 FEATURES ......................................................................................................................................... 1 1.2 APPLICATIONS.................................................................................................................................. 2 1.3 BLOCK DIAGRAM ............................................................................................................................. 2 1.4 DEFINITIONS...................................................................................................................................... 3

2 PRODUCT SPECIFICATIONS .................................................................................... 4 2.1 ABSOLUTE MAXIMUM RATINGS..................................................................................................... 4 2.2 RECOMMENDED OPERATING CONDITION ................................................................................... 4 2.3 PERFORMANCE & ELECTRICAL SPECIFICATIONS ..................................................................... 5 2.4 TIMING SPECIFICATIONS ................................................................................................................ 8 2.5 NON-VOLATILE MEMORY SPECIFICATIONS ............................................................................... 10 2.6 CONNECTOR SPECIFICATIONS .................................................................................................... 10

3 MECHANICAL DIMENSIONS ................................................................................... 11

4 TYPICAL PERFORMANCE CHARACTERISTICS ................................................... 12

5 CONNECTION EXAMPLE ......................................................................................... 13 5.1 PRECAUTIONS FOR WIRING AND CABLING ............................................................................... 13 5.2 PRECAUTIONS FOR SUPPLYING POWER ................................................................................... 14

6 CONTROL SEQUENCE ............................................................................................ 15 6.1 MESSAGES ...................................................................................................................................... 15 6.2 OBJECT DICTIONARY .................................................................................................................... 16

6.2.1 READ/WRITE SEQUENCE ............................................................................................... 16 6.2.2 OBJECT DICTIONARY ACCESS TIME ............................................................................ 17 6.2.3 OBJECT DICTIONARY LIST ............................................................................................. 18

6.3 CHANGE NMT MODE ...................................................................................................................... 21 6.3.1 RESET NODE (81h) .......................................................................................................... 22 6.3.2 RESET COMMUNICATION (82h) ..................................................................................... 22

6.4 MEASUREMENT .............................................................................................................................. 23 6.4.1 SYNCHRONOUS MODE ................................................................................................... 23 6.4.2 TIMER EVENT MODE ....................................................................................................... 24 6.4.3 MEASUREMENT VALUES ................................................................................................ 25 6.4.4 INTERNAL FILTER ............................................................................................................ 27 6.4.5 User Defined Filter ............................................................................................................. 31

6.5 TIME SETTING ................................................................................................................................. 33 6.6 HEARTBEAT .................................................................................................................................... 34 6.7 SYNC PRODUCER ........................................................................................................................... 34 6.8 APPLICATION OF SYNC COUNTER .............................................................................................. 36 6.9 AUTO OUTPUT SETTING ................................................................................................................ 38 6.10 CAN NODE SETTING ...................................................................................................................... 38 6.11 BUS STATUS & LED INDICATOR .................................................................................................. 39

7 HANDLING NOTES ................................................................................................... 42 7.1 CAUTIONS FOR ATTACHING ......................................................................................................... 42 7.2 OTHER CAUTIONS .......................................................................................................................... 42 7.3 LIMITED WARRANTY ...................................................................................................................... 43

M-A552AC1 Seiko Epson Corporation ii Rev.20191015

8 PART NUMBER / ORDERING INFO. ........................................................................ 44

Appendix1. MESSAGES .............................................................................................. 45 A.1.1. NMT message.................................................................................................................... 45 A.1.2. SYNC message ................................................................................................................. 45 A.1.3. TIME message ................................................................................................................... 45 A.1.4. TPDO1 message ............................................................................................................... 46 A.1.5. TPDO2 message ............................................................................................................... 46 A.1.6. TPDO3 message ............................................................................................................... 47 A.1.7. TPD04 message ................................................................................................................ 47 A.1.8. TSDO message ................................................................................................................. 48 A.1.9. RSDO message ................................................................................................................. 48 A.1.10. HB message ...................................................................................................................... 48

Appendix2. OBJECT DICTIONARY ............................................................................ 50 A.2.1. COMMUNICATION PROFILE （DS-301） ...................................................................... 50 A.2.1.1 Device type ........................................................................................................................ 50 A.2.1.2 Error register ...................................................................................................................... 50 A.2.1.3 Manufacturer status register .............................................................................................. 51 A.2.1.4 SYNC COB-ID ................................................................................................................... 51 A.2.1.5 Communication cycle period .............................................................................................. 51 A.2.1.6 Manufacturer device name ................................................................................................ 51 A.2.1.7 Manufacturer hardware version ......................................................................................... 52 A.2.1.8 Manufacturer software version .......................................................................................... 52 A.2.1.9 Save all parameters ........................................................................................................... 52 A.2.1.10 Restore all default parameters........................................................................................... 52 A.2.1.11 TIME COB-ID ..................................................................................................................... 53 A.2.1.12 Producer heartbeat time .................................................................................................... 53 A.2.1.13 Synchronous counter overflow value ................................................................................. 53 A.2.1.14 RSDO COB-ID ................................................................................................................... 53 A.2.1.15 TSDO COB-ID ................................................................................................................... 54 A.2.1.16 TPDOn COB-ID ................................................................................................................. 54 A.2.1.17 TPDO transmission type .................................................................................................... 55 A.2.1.18 TPDO1 mapping ................................................................................................................ 55 A.2.1.19 TPDO2 mapping ................................................................................................................ 55 A.2.1.20 TPDO3 mapping ................................................................................................................ 56 A.2.1.21 TPDO4 mapping ................................................................................................................ 56 A.2.1.22 NMT startup mode ............................................................................................................. 56 A.2.2. MANUFACTURE PROFILE ............................................................................................... 57 A.2.2.1 CAN node-ID...................................................................................................................... 57 A.2.2.2 CAN bitrate ........................................................................................................................ 57 A.2.2.3 Timer interval ..................................................................................................................... 57 A.2.2.4 Apply parameters ............................................................................................................... 58 A.2.2.5 User defined filter parameter set ....................................................................................... 58 A.2.2.6 UDF host interface (Number of tap)................................................................................... 59 A.2.2.7 UDF host interface (Current address index) ...................................................................... 59 A.2.2.8 UDF host interface (Read/Write data) ............................................................................... 60 A.2.2.9 Sample counter .................................................................................................................. 60 A.2.2.10 Time of day ........................................................................................................................ 61 A.2.2.11 Time difference .................................................................................................................. 61 A.2.3. MEASURING DEVICE PROFILE(DS-404) ....................................................................... 62 A.2.3.1 AI sensor type 1-3 .............................................................................................................. 62 A.2.3.2 AI input PV 1-3(Ax/Ay/Az) .................................................................................................. 62 A.2.3.3 AI physical unit PV 1-3 ....................................................................................................... 63 A.2.3.4 Al filter type 1-4 .................................................................................................................. 63 A.2.3.5 Al filter tap constant ........................................................................................................... 63

iii Seiko Epson Corporation M-A552AC1 Rev.20191015

9 3rd PARTY LICENSE ................................................................................................ 65

10 Standards and Approvals........................................................................................ 67 10.1 NOTICE 67 10.2 CE marking ...................................................................................................................................... 67 10.3 RoHS & WEEE ................................................................................................................................. 67 10.4 FCC Compliance Statement for American users ......................................................................... 67 10.5 Industry ICES Compliance Statement for Canadian users ......................................................... 67

11 REVISION HISTORY ................................................................................................. 68

OVERVIEWOVERVIEW

1 Seiko Epson Corporation M-A552AC1 Rev.20191015

1 OVERVIEW

The M-A552 is a three-axis digital output accelerometer featuring ultra-low noise, high stability, and low power consumption using fine processing technology of Quartz. Incorporating both high accuracy and durability, the versatile M-A552 is well suited to a wide-range of challenging applications such as SHM, seismic observation, condition monitoring for industrial equipment, and pose detection for industrial machinery (i.e. construction machinery/attachments, agricultural machinery/ implements, robots). The M-A552 is packaged in a water-proof and dust-proof metallic case supporting CAN bus interface. This ruggedized unit is suitable for industrial use that requires remote mounting, long-distance wiring, and/or simplified development of a multi-node measurement system that requires accurate synchronization performance for the multiple units.

1.1 FEATURES

Table 1-1 Features

Item Specification Note Sensor Integrated sensor Model: M-A552AC1x

Internal sensor M-A352 Detection range ±15G Initial Bias error ±4mG(@25) Resolution 0.06uG Low noise 0.5µg/√Hz typ Selectable output format: Acceleration / Tilt Angle Programmable low-pass digital filters

Interface Protocol CANopen Physical layer ISO11898-2 (High speed CAN) Data Link layer ISO11898-1 (High speed CAN) Frame format CAN2.0A Profile

DS-301 Standard profile

DS-404 Device profile for measuring devices

Structures DS-303-1 5pin "micro" Connector DS-303-2 SI unit DS-303-3 LED Bit rate 1M/ 800k/ 500k/ 250k/ 125k/ 50k/ 20k/ 10k bps 1Mbps (Default setting) Node-ID 1 to 127 1 (default setting) Sampling rate Max 1,000 sps (Timer event mode)

/ 500sps (Sync mode) Selectable

Other function Indicator Run-LED (Green)/ Error-LED (Red) Accordance with DS-

303-3 Terminator Not included A terminator should be

attached to the network.

General characteristics Voltage supply 9 to 32 V Power consumption 35 mA typ Vin=12V

OVERVIEW

M-A552AC1 Seiko Epson Corporation 2 Rev.20191015

Item Specification Note Operating temperature

range -30 to +70°C

External dimension Outer packaging Overall metallic shield chassis Size 65 x 60 x 30mm (Including projection.) Weight 128g Interface connector CAN connector: 5-pos, M12, water-proof Water-proof , Dust-

proof: Corresponds with IP67

Regulation CE CE marking (EN61326/RoHS Directive) ClassA USA FCCpart15B ClassA

1.2 APPLICATIONS

Structural health monitoring Seismic measurements Vibration control and stabilization Motion analysis and control

1.3 BLOCK DIAGRAM

Figure 1-1 Block Diagram

OVERVIEWOVERVIEW


1.4 DEFINITIONS

The definition of terms used in this manual.

CAN-ID An identifier for CAN data and remote frames. This unit uses 11bit CAN-ID. Client A device that sends a request to a server. In this manual, the host device like a PC becomes the client. COB Communication Object, consists of 1 or more CAN frames, COB encompasses all types of data

transmitted via CANopen. COB-ID COB Identifier; defines a unique COB and also determines its priority. Consumer A device that receives messages from a producer and communicates with a producer. DLC Data Length Code, this shows the number of bytes in the data field of the message. FC Function Code, this is the high-order 4 bits of the CAN-ID. HB Heartbeat NMT Network Management Node-ID (NID) 7 bits network-wide unique identifier for each CANopen device. It is inserted in the low-order 7 bits of

COB-ID. Values from 1 to 127 are normally used, 0 is used for special purpose. OD Object Dictionary; list of user-accessible parameters stored in the slave node. Producer A device that sends messages to one or more consumers. RSDO Receive Service Data Object, Receive SDO request from CANopen bus master. Server A device that contains an OD. It returns a response when it receives the request from client. In this

manual, SDO server refers to the sensor unit. SYNC Synchronization Object TPDO Transmit PDO channel TSDO Transmit SDO response to CANopen bus master

PRODUCT SPECIFICATIONS


2 PRODUCT SPECIFICATIONS

2.1 ABSOLUTE MAXIMUM RATINGS

Table 2-1 Absolute Maximum Rating

Parameter Term Conditions Range Unit Power supply voltage VIN CAN_V+ to CAN_GND -0.3～+32V V Port input voltage Vport CANH/CANL to CAN_GND -32～+32 V Voltage to chassis (CAN Shield)

Vcom All signals including power source 50 V

Storage temperature TSTG -40～+85 °C Operating temperature TOPR1 -30～+70 °C Acceleration / Shock Half-sine 1msec *1 1,000 G

If the unit is operated beyond the absolute maximum rating, malfunction may occur or the unit may fail completely. Although the unit may appear to operate normally, reliability may decrease. CAUTION: *1 Excessive vibration or shock independent of the above listed conditions may also cause malfunction or failure!

2.2 RECOMMENDED OPERATING CONDITION

Table 2-2 Recommended Operating Conditions

,Vin=12V,RL=60Ω,unless otherwise specified; all voltages are defined with respect to ground Parameter Term Condition Min. Typ Max. Unit Power supply voltge VIN CAN_V+ to CAN_GND *2 9 *1 12

24 V

Port input voltage VPORT CANH/CANL to GND -2 - 7 V Operating temperature TOPE -30 - 70 °C Start up time - Power-on to start output. 1600 2000 msec - Warm-up period for best

performance 15 min

*1 When power supply voltage is 9V or less, the master may not be able to communicate with this node normally even if the run-LED turns on. *2 The power supply voltage must reach the recommended operating condition within 2 seconds after power is applied to this node.

OVERVIEWPRODUCT SPECIFICATIONS


2.3 PERFORMANCE & ELECTRICAL SPECIFICATIONS

Table 2-3 Sensor Section Specifications

VIN=12V, Ta=-30 to 70°C, ±1G, unless otherwise noted

Parameter Test Conditions / Comments Min Typ Max Unit

MISALIGNMENT Case to Axis ±0.5 Deg

Axis to Axsis 1 σ, Axis-to-axis, Δ = 90° ideal,RT ±0.1 Deg

Cross Axis Sensitivity ±0.2 % ACCELERATION *1 Sensitivity

Output Dynamic Range ±15 G Scale Factor 0.06 µG/LSB Sensitivity Error 25, ≤ 1G ±500 ppm

Nonlinearity ≤ 1G, Best fit straight line, RT ±0.03 % of FS

Bias Initial Error 1 σ, −30°C ≤ TA ≤ +70°C ±4 mG

Bias Repeatability TA=25, VIN=12V For 1 year after shipment 3 mG

Bias Temperature Error 25 ±2 mG Temperature sensitivity ±0.1 mG/ Bias Instability AVR, Average 0.2 uG

Velocity Random Walk Average 1.2E-4 (m/sec)/√hr

Noise

Noise Density

TA=25°C, average 0.5Hz to 6Hz, 0.5 2 µG/√Hz

TA=25°C, peak 0.5Hz to 100Hz 60 uG//√Hz

Cantilever Resonance frequency

25, VIN=12V 850 Hz

VRC at 50Hz 25, VIN=12V ±50 µG/G2

Frequency Property -6 dB Bandwidth User selectable 9 460 Hz

TILT ANGLE*2 Sensitivity

Dynamic Range ±1.0472 (±60)

rad (deg)

Scale Factor 0.002 µrad/LSB Nonlinearity 25, ±45deg ±0.03 % of FS

Misalignment 1 σ, Axis-to-axis, Δ = 90° ideal ±1.745

(±0.1) mrad (deg)

Bias

Bias Repeatability TA=25, VIN=12V For 1 year after shipment ±3

(±0.17) mrad (deg)

Bias Temperature Error 25 ±2 (±0.11)

mrad (deg)

Noise

Noise Density TA=25°C, average 0.5Hz to 6Hz, 0.5 2 µrad/√Hz,

rms



Parameter Test Conditions / Comments Min Typ Max Unit

TEMPERATURE SENSOR Output Range -30 85

Scale Factor *3 at 25 T[]=SF*a+34.987 -0.0037918 °C/LSB

*1. The calibrated standard 1G gravitational acceleration value is 9.80665 m/s2.

*2. The tilt angle is internally calculated from gravitational acceleration by the following expression. Tilt Angle Calculation Formula

*3. This is a reference value used for the internal temperature correction, and is not guaranteed to ac

curately output the interior temperature.

Figure 2-1 Functional Block Diagram

][ asin(G) rad=θ

SENSOR Accelerometer Sampling

Internal Clock 4k Sps/ch

FIR Filter

SENSOR Temperature

Sampling

Internal Clock 1k Sps

Moving Average Filter

Down Sampling

Temperature Conversion

Temperature Correction

Alignment Correction

Format Conversion

CAN

128tap

Output rate

External trg.



Table 2-4 CAN Characteristics

Ta=25°C, Vin=12V, RL=60Ω, unless otherwise specified; all voltages are defined with respect to ground; positive current flows into the sensor unit.

Parameter Term Condition Min. Typ Max. Unit Output voltage (dominant)

VO (dom) CANH 2.75 3.5 4.5 V CANL 0.5 1.5 2.25 V

Output voltage (recessive)

VO (rec) CANH/CANL 2 2.5 3 V

Differential output voltage(dominant)

VO (dif)dom CANL to CANH 1.5 - 3 V

Differential output voltage(recessive)

VO (dif)rec CANL to CANH -50 - 50 mV

Output current (dominant)

IO (dom) CANH; VCANH=0V -120 -70 -40 mA CANL; VCANL=7V 40 70 120 mA

Output current (recessive)

IO(rec) VCANH=VCANL =-2V to +7V -5 - 5 mA

Table 2-5 Current Consumption

Ta=25°C, RL=60Ω, unless otherwise specified; all voltages are defined with respect to ground; positive currents flow into the sensor unit; NMT= Operational, Synchronous mode, no heartbeat, Sensor sample rate 500sps, SYNC producer off

Parameter Term Condition Min. Typ Max. Unit Mean current in measurement state

IIN(SYNC) Vin=12V, SYNC intervals = 2ms, CAN bitrate = 1Mbps

- 35

- mA

Vin=24V, SYNC intervals = 2ms CAN bitrate = 1Mbps

- 20 - mA

Mean current in idle state

IIN(ready) Vin=12V - 30 - mA Vin=24V - 18 - mA

Maximum input current

IIN(max) - - 60 mA



2.4 TIMING SPECIFICATIONS

Table 2-6 Measurement Timing Characteristics @1Mbps CAN bitrate

Parameter Term Condition Min. Typ Max. Unit Response time tRS from received SYNC to send TPDO 0.8 - - msec Sampling period tSC accuracy -1 - +1 %

Figure 2-2 Measurement Timing Characteristic

Table 2-7 State Change Timing Characteristics

Parameter Term Description Min. Typ Max. Unit Power-On boot-up time tBT Time to boot-up completion from

power on. - 1600 2000 msec

Reset node boot-up time tRN Time to boot-up completion from a reset node command reception.

- 1600 2000 msec

Reset communication boot-up time

tRC Time to boot-up completion from a reset communication command reception.

- 250 300 msec

Enter Start time - Time to Start mode from Pre-operational or Stop mode

- 500 - msec

Enter Stop time - Time to Stop mode from Operational or Pre-operational

- 11

20 msec

Enter Pre-operational time

- Time to Pre-operational mode from Operational or Stop mode

11 250 - msec

Enter operational time tOP Time to change into operational mode from boot-up completion. (Only when the startup mode is operational mode.)

- 11 - msec

To confirm the NMT mode status after boot-up, decode the status flag in the HB message or set the startup mode OD [1F80h, 00h] to pre-operational mode and manually change to operational mode via NMT Start command. The LED indicator changes into green after mode setting.

CAN-BUS

Sensor data

SYN

TPD

tRS

TCD

tSC

receive

capture

send



Figure 2-3 Boot-up Timing Characteristics

Figure 2-4 Reset Timing Characteristics

CAN-BUS

NMT mode

*1 When start-up mode is the operational mode.

Vin

tOP

enter operational *1

Operational mode *1

HB

TCD

tBT

boot-up

send

Initialize

Pre-operational mode

CAN-BUS

NMT mode

tOP

enter operational *1

*1 When start-up mode is the operational mode.

Operational mode *1

HB

TCD

tRN or tRC

boot-up

send

Initialize

Reset node command or reset communication command

NMT

Pre-operational



2.5 NON-VOLATILE MEMORY SPECIFICATIONS

Table 2-8 Non-volatile Memory Parameter Save Characteristics

Ta=-30°C～+70°C Parameter Term Condition Min. Typ Max. Unit The number logging of cycles Nlog 100000 - - cycles Retention time tRET2 Powered 10 - - years

2.6 CONNECTOR SPECIFICATIONS

Table 2-9 Connector Specification

Model number SACC-DSI-MS-5CON-M12-SCO SH Manufacturer PHOENIX CONTACT

Figure 2-5 Terminal Layout

Table 2-10 Terminal Function

No Pin Name I/O Description 1 CAN_SHLD - CAN Shield *1 2 CAN_V+ I External power supply (9-30V) 3 CAN_GND - Ground 4 CAN_H I/O CAN H bus line 5 CAN_L I/O CAN L bus line

NOTE: This device should be connected to a connector that satisfies at least the IP67 water and dust proof specification. *1 CAN_SHLD is connected to the case. CAN_SHLD is internally connected to CAN_GND via a capacitor 0.01uF/100V.

OVERVIEWMECHANICAL DIMENSIONS


3 MECHANICAL DIMENSIONS

Figure 3-1Outline Dimensions (millimeters)

Figure 3-2 Recommended Mounting Dimension

55±0.1

43±

0.1

3-M4

21.5

±0.

1

TYPICAL PERFORMANCE CHARACTERISTICS


Figure 3-3 Axial direction

4 TYPICAL PERFORMANCE CHARACTERISTICS

Figure 4-1 Noise Density Characteristics (fc=100Hz)

The above graph is a typical example of product characteristics and is not guaranteed by the specification.

OVERVIEWCONNECTION EXAMPLE


5 CONNECTION EXAMPLE

Figure 5-1 Connection Example

5.1 PRECAUTIONS FOR WIRING AND CABLING

・ This product has no internal terminator. The user is required to connect a terminator to both ends of the cable.

・ It is recommended that shield connects to ground. ・ It is recommended that the cable meets the requirements of the CAN standard. ・ Refer to Table 5-1 which defines the maximum practical length of cable wiring in a CAN

network. Communication may be unstable depending on the system environment even if the system satisfies Table 5-1

・ Care must be given to the effects of voltage drop by line resistance for the power supply line (CAN_V+, CAN_GND).

Table 5-1 Maximum Recommended Total Length of Cable (Reference)

CAN bitrate Total length 1000kbps 40m 500kbps 100m 250kbps 250m 125kbps 500m

CONNECTION EXAMPLE


5.2 PRECAUTIONS FOR SUPPLYING POWER

・ The user should be aware of serious risks on the power supply exposure to the following: High voltage noise by increased resistance and inductance on power supply line. Surge voltage from lightning and environmental equipment.

・ Figure 5-2 describes the external reference protection circuit against the lightning surge with a surge level based on IEC61000-4-5, +/-1kV(power supply line to the power supply ground) and +/-2kV(power supply line to the earth).

VP: CAN_V+ (Power supply) PGND: CAN_GND (Power supply ground) FGND: EARTH (System ground earth) U3039: Surge absorber to power supply ground (Okaya Electric Industries) ERZ-V14D390: Surge absorber to earth ground (Panasonic)

Figure 5-2 Surge Protection Circuit

OVERVIEWCONTROL SEQUENCE


6 CONTROL SEQUENCE

6.1 MESSAGES

This host device communicates with the sensor unit using the message types as shown by Table 6-1. See Appendix1 for the detailed description of the message types.

Table 6-1 Message List

COB CAN-ID (11bits) DL

C Data field (Byte) *1 Description

FC 4bits

Node-ID 7bits 1 2 3 4 5 6 7 8

NMT 0000b 0000000b 2 Cs Id

Cs=command specifier Id=node-ID

SYNC 0001b 0000000b 1 Cn Cn=SYNC counter

0

TIME 0010b 0000000b 6 Dy Ms Dy=days Ms=milliseconds

TPDO1 0011b 0000001b to 1111111b

8 Ax(Ix) Ay(Iy) Ax/Ay=Acceleration data Ix/Iy=Tilt angle data

TPDO2 0101b 0000001b to 1111111b

6 Az(Iz) Sc

Az=Acceleration data Iz=Tilt angledata Az=Acceleration data Sc=Sample counter

TPDO3 0111b 0000001b to 1111111b

6 Dy Ms Dy=days Ms=milliseconds

TPDO4 1001b 0000001b to 1111111b

4 Temperature -

Tmp=Temperature Unit：°C Two's complement and three byte fixed zero point bit23: Sign part bit22-10 : Integer part bit9-0 : Fraction part

TSDO 1011b 0000001b to 1111111b

8 Cs Pi Ps Pd

Cs=command specifier Pi=index, Ps=sub-index Pd=data

RSDO 1100b 0000001b to 1111111b

8 Cs Pi Ps Pd

Cs=command specifier Pi=index, Ps=sub-index Pd=data

HB 1110b 0000001b to 1111111b

1 St St=state

*1 Byte order is little endian

CONTROL SEQUENCE


6.2 OBJECT DICTIONARY

6.2.1 READ/WRITE SEQUENCE

To read and write an OD entry, the client sends a request to the server, the server answers the message from the client. The client may request read-OD and write-OD accesses while the sensor unit is in the pre-operational mode or operational mode. This unit supports expedited SDO communication, so the data length of OD is 1, 2 or 4 Bytes.

Read-OD Sequence

1. The SDO client sends a request using the command (Cs) 40h RSDO message and specifies the index (Pi) and sub-index (Ps).

2. The SDO server replies using a TSDO message with the OD value copied to the Pd data field. The SDO server specifies 43h, 4Bh or 4Fh in the command (Cs) depending on the size of the data field.

Figure 6-1 Read-OD Sequence

Write-OD Sequence

1. The SDO client sends a request by the RSDO message and specifies the index (Pi), sub-index (Ps) and data (Pd). The client specifies 23h, 2Bh or 2Fh to the command (Cs) depending on the size of the data field.

2. The SDO server replies using the command (Cs) 60h TSDO message, when the data has been written correctly.

Figure 6-2 Write-OD Sequence

If an error has occurred, the SDO server returns the command (Cs) 80h TSDO message with an abort code, shown in Table 6-2, contained in the data (Pd) of the write-OD sequence and the read-OD sequence.

1011

NID Pi Ps Pd Cs

Client (PC) Server (Node)

43h: 4bytes data 4Bh: 2bytes data 4Fh: 1byte data

1100

NID Pi Ps RSDO

40h (reserved)

TSDO

1011

NID


1100

NID Pi Ps Pd RSDO

Cs

23h : 4bytes data 2Bh : 2bytes data 2Fh : 1byte data

TSDO Pi Ps (reserved)

60h



Figure 6-3 OD Abort Sequence

Table 6-2 List of Abort Codes

Abort code Description 05040000h SDO protocol time out 05040001h Client/server command specifier not valid or unknown. 05040005h Out of memory. 06010000h Unsupported access to an object. 06010001h Attempt to read a write only object. 06010002h Attempt to write a read only object. 06020000h Object does not exist in the object dictionary. 06060000h Access failed due to a hardware error. 06070010h Length of service parameter does not match. 06090011h Sub-index does not exist. 06090030h Invalid value for parameter. 08000000h General error

08000021h Data cannot be transferred or stored to the application because of local control.

08000022h Data cannot be transferred or stored to the application because of the present device state.

6.2.2 OBJECT DICTIONARY ACCESS TIME

Table 6-3 describes O.D. execution time. Keeping O.D access time more than O.D execution time is recommended. See Appendix2 OBJECT DICTIONARY for a detailed description of each OD entry.

Table 6-3 OD Execution Time

Index Sub Function Execution Time (min) Comment 1010h 01h Save all parameters 200msec 1011h 01h Restore all default parameters 100msec 2005h 00h Apply parameters 1000msec 2007h 01h UDF LOAD 15sec 2007h 02h UDF SAVE 27sec 2007h 03h UDF ERASE 15sec 2007h 04h UDF VERIFY 30sec

- - OD other than the above 1msec

1011

NID Pi Ps Pd 80h


1100

NID Pi Ps (Pd) RSDO

Cs

TSDO

CONTROL SEQUENCE


6.2.3 OBJECT DICTIONARY LIST

Table 6-4 to Table 6-6 contains the list of OD on the sensor unit. See Appendix2 for a detailed description of each OD entry. Example

Index Sub Function Type Access Default Value Save (1) (2) （Overview） (3) (4) (5) (6)

(1) Index Number (2) Sub Index Number (3) Data type U8 = 8bit unsigned integer (0 to 255) U16 = 16bit unsigned integer (0 to 65535) U32 = 32bit unsigned integer (0 to 4294967295) I16= 16bit signed integer (-32768 to 32767) VS4 = Array[4] of character (ex: 65766173h = "save") (4) Access type const = Constant (never changed) ro = read only rw = read /write (5) Default value (6) An OD entry that has '#' in “Save” column supports saving to non-volatile memory.



Table 6-4 DS-301 OD (Communication Parameters)

Index Sub Function Type Acces

s Default Value Save

1000h 00h Device type U32 const 0002 0194h 1001h 00h Error register U8 ro 00h 1002h 00h Manufacturer status register U32 ro 0000 0000h 1005h 00h SYNC COB-ID U32 rw 0000 0080h # 1006h 00h Communication cycle period U32 rw 0000 0000h # 1008h 00h Manufacturer device name VS4 const 3235 3541h 1009h 00h Manufacturer hardware version VS4 const 3031 4341h 100Ah 00h Manufacturer software version VS4 const 3030 2E31h

1010h 00h highest sub-index supported U8 const 01h 01h Save all parameters VS4 rw 0000 0001h

1011h 00h highest sub-index supported U8 const 01h 01h Restore all default parameters VS4 rw 0000 0001h

1012h 00h TIME COB-ID U32 const 8000 0100h 1017h 00h Producer heartbeat time U16 rw 0000h #

1019h 00h Synchronous counter overflow value U8 rw 00h #

1200h 00h highest sub-index supported U8 const 02h 01h RSDO COB-ID U32 ro 0000 0600h + NID 02h TSDO COB-ID U32 ro 0000 0580h + NID

1800h 00h highest sub-index supported U8 const 02h 01h TPDO1 COB-ID U32 rw 4000 0180h + NID # 02h TPDO1 transmission type U8 rw *1 01h #

1801h 00h highest sub-index supported U8 const 02h 01h TPDO2 COB-ID U32 rw 4000 0280h + NID # 02h TPDO2 transmission type U8 ro *1 01h

1802h 00h highest sub-index supported U8 const 02h 01h TPDO3 COB-ID U32 rw 4000 0380h + NID # 02h TPDO3 transmission type U8 ro *1 01h

1803h 00h highest sub-index supported U8 const 02h 01h TPDO4 COB-ID U32 rw C000 0480h + NID # 02h TPDO4 transmission type U8 ro *1 01h

1A00h 00h highest sub-index supported U8 const 02h 01h TPDO1 mapping1 (Ax) U32 const 9130 0120h 02h TPDO1 mapping2 (Ay) U32 const 9130 0220h

1A01h 00h highest sub-index supported U8 const 02h 01h TPDO1 mapping3 (Az) U32 const 9130 0320h 02h TPDO2 mapping2 (Sc) U32 const 2100 0010h

1A02h 00h highest sub-index supported U8 const 02h 01h TPDO3 mapping1 (Dy) U32 const 2101 0110h 02h TPDO3 mapping2 (Ms) U32 const 2101 0220h

1A03h 00h highest sub-index supported U8 const 01h 01h TPDO4 mapping1 (Tmp) U32 const 91300420h

1F80h 00h NMT Startup Mode U32 rw 0000 0008h # *1 When OD[1800h,02h] is set, the same value is set in OD[1801h,02h], OD[1802h,02h] and OD[1803h,02h] automatically.

CONTROL SEQUENCE


Table 6-5 Manufacturer OD

Index Sub Function Type Access Default Value Save

2000h 00h highest sub-index supported U8 const 02h 01h CAN node-ID U8 rw 01h # 02h CAN bitrate U8 rw 00h #

2001h 00h Timer interval U32 rw 0000 0002h # 2003h 00h Logging mode U8 rw 00h 2005h 00h Apply parameters U8 rw 10h # 2007h 00h User Defined Filter Parameter Set U8 rw 00h

2008h

00h highest sub-index supported U8 const 03h 01h Number of taps U16 ro 00h #* 02h Start/Current address U16 rw 0000h 03h Read/Write data I32 rw 0000 0000h

2100h 00h Sample counter U16 rw 0000h

2101h 00h highest sub-index supported U8 const 02h 01h Timestamp day U16 ro indefinite 02h Timestamp millisecond U32 ro indefinite

*This is saved with the “UDF SAVE” command

Table 6-6 DS-404 OD (Measurement Device Profile)

Index Sub Function Type Acces

s Default Value Save

6110h

00h highest sub-index supported U8 const 04h 01h AI sensor type 1 U16 const 2905h 02h AI sensor type 2 U16 const 2905h 03h AI sensor type 3 U16 const 2905h 04h AI sensor type 4 U16 const 0064h

6131h

00h highest sub-index supported U8 const 04h 01h AI physical unit PV 1 U32 const 00F1 0000h 02h AI physical unit PV 2 U32 const 00F1 0000h 03h AI physical unit PV 3 U32 const 00F1 0000h 04h AI physical unit PV 4 U32 const 002D 0000h

61A0h

00h highest sub-index supported U8 const 04h 01h AI filter type 1 U8 const 02h 02h AI filter type 2 U8 const 02h 03h AI filter type 3 U8 const 02h 04h AI filter type 4(reserved) U8 const 00h

61A1h

00h highest sub-index supported U8 const 04h 01h AI filter tap constant 1 U8 rw *1 09h # 02h AI filter tap constant 2 U8 ro *1 09h 03h AI filter tap constant 3 U8 ro *1 09h 04h AI filter tap constant 4(reserved) U8 ro 09h

9130h

00h highest sub-index supported U8 const 04h 01h AI input PV 1 I32 ro indefinite 02h AI input PV 2 I32 ro indefinite 03h AI input PV 3 I32 ro indefinite 04h AI input PV 4 (Tmp) I32 ro indefinite

*1 When OD[61A1h,01h] is set, the same value is set from OD[61A1h,02h] to OD[61A1h,04h] automatically.



6.3 CHANGE NMT MODE

The sensor unit changes its NMT mode, shown in Figure 6-4, upon receiving a request from the NMT producer. NMT mode status is described by LED (green) pattern in Table 6-13. The sensor unit performs measurement operation in operational mode and OD configuration in pre-operational mode. The main difference between operational mode and pre-operational mode is that TPDO output is only valid during operational mode. Some ODs do not permit modification in operational mode. Refer to Table 6-7 and Appendix2 for details. The measurement operation is suspended in stop mode. During stop mode, all functions are suspended except the output of heartbeat message. Therefore, the host cannot access the OD during stop mode. The sensor measurement is active during operational mode only. The current NMT mode is reflected in the status parameter (St) of the heartbeat message.

Figure 6-4 NMT State Change Diagram

The sensor unit sends the bootup message (heartbeat message (700h + NID) with status parameter 00h) when the initialization state is finished, and the unit enters pre-operational mode. In this state, the sensor unit is continuously sending the bootup message until any other CAN node on the network sends back ACK. This unit can be configured to automatically enter operational mode after initialization by clearing the NMT startup mode OD [1F80h, 00h] bit2. In this case, it could take a minimum of five seconds from when the power supply is applied until the unit completes the transition to operational mode.

Automatically enter operational, if start up mode is 'Operational'. (Note: It takes max. 5sec until mode change completion.)

Initialize

Initialize communication part (Initialize standard profile)

Send boot-up

Reset node

Reset communication

Pre-operational

Operational

Stop mode

Start Stop

Stop

Enter pre-operational

Start

Enter pre-operational

CONTROL SEQUENCE


The reset node command and the reset communication command can be used to reset this unit. The reset node command resets the entire system including software and hardware. The reset communication command resets the DS-301 OD (communication parameters). The NMT messages for each NMT state command are shown in Figure 6-5. The host device can broadcast to all NMT consumers in the network by setting "00h" to the node-ID parameter (Id) of the NMT message.

Figure 6-5 NMT Message

Table 6-7 Valid Function of Each NMT State

Function Initialization Pre-operational Operational Stop Boot-up message valid - - - TPDO producer - - valid - SDO server - valid valid - SYNC producer - - valid - TIME consumer - valid valid - HB producer - valid valid valid Sensor active

6.3.1 RESET NODE (81h)

Sensor unit is initialized in the same way as power reboot.

6.3.2 RESET COMMUNICATION (82h)

Sensor unit is initializes the following O.D. parameters. ・OD[1005h]sub[00h] ・OD[1006h]sub[00h] ・OD[1017h]sub[00h] ・OD[1019h]sub[00h] ・OD[180xh]sub[01h] / sub[02h] ・OD[1F80h]sub[00]

Producer (PC) Consumer1 (Node)

0000b 0000000b Id

NMT

Cs

Consumer2 (Node)

Consumer3 (Node)

Cs: 01h = start 02h = stop 80h = enter pre-operational 81h = reset node 82h = reset communication



6.4 MEASUREMENT

During operational mode, this sensor unit sends TPDO messages whenever it receives a SYNC message or is triggered by a sensor sampling event. TPDO messages can only be sent during operational mode. This unit has two transmit modes as classified by the kind of trigger shown at Table 6-8 Transmit Mode.

Table 6-8 Transmit Mode

Transmit mode Trigger Operation Synchronous mode SYNC message This unit sends TPDO periodically after the specified

number of SYNCs. Timer event mode Sensor sampling

event This unit sends TPDO periodically with interval equal to sensor sampling event.

6.4.1 SYNCHRONOUS MODE

Synchronous mode is the mode used to send TPDO messages periodically after a specified number of SYNCs. A host can specify 1 to 240 as the value of SYNC period. When Synchronous mode selected, the output data rate must be set to less than 500sps (more than minimum interval 2ms). Otherwise, the user may experience abnormal behavior. A sample procedure for activating this mode is given below. 1. Enter pre-operational mode. 2. Disable TPDO1, TPDO2, TPDO3 and TPDO4.

Write C000 0180h + NID to TPDO1 COB-ID OD [1800h, 01h]. Write C000 0280h + NID to TPDO2 COB-ID OD [1801h, 01h]. Write C000 0380h + NID to TPDO3 COB-ID OD [1802h, 01h]. Write C000 0480h + NID to TPDO4 COB-ID OD [1803h, 01h].

3. Set counter overflow value Write 00h to Synchronous counter overflow value OD [1019h,00h]. Refer to 6.8 APPLICATION OF SYNC COUNTER in case of setting value of 02h-F0h.

4. Set to synchronous mode Write desired value for SYNC period (1 to 240) to TPDO1 transmission type OD [1801h, 02h]. The same value is set to TPDO2/3/4 transmission type OD [180x, 02h].

5. Set Internal Filter Write value (00h-03h) to AI filter tap constant1 OD[61A1h, 01h].

6. Apply OD[1800h,02h], OD[2001h,00h], OD[61A1h,01h] settings. Write x1h to OD[2005h,00h] to Apply parameters. (This takes several seconds to complete.)

7. Enable TPDO (ex. TPDO1/2/3 on) Write 4000 0180h+NID to TPDO1 COB-ID OD[1800h,01h]. Write 4000 0280h+NID to TPDO2 COB-ID OD[1801h,01h]. Write 4000 0380h+NID to TPDO3 COB-ID OD[1802h,01h].

8. After the sensor unit has been set to operational mode, TPDOs will be sent when the specified number of SYNCs are received.

CONTROL SEQUENCE


Figure 6-6 Synchronous Mode Sequence

6.4.2 TIMER EVENT MODE

The timer event mode is the mode used to send TPDO message periodically with interval equal to sensor event timer. A sample procedure for activating this mode is given below. 1. Enter pre-operational mode. 2. Disable TPDO1, TPDO2, TPDO3 and TPDO4.

Write C000 0180h+NID to TPDO1 COB-ID OD [1800h,01h]. Write C000 0280h+NID to TPDO2 COB-ID OD [1801h,01h]. Write C000 0380h+NID to TPDO3 COB-ID OD [1802h,01h]. Write C000 0480h+NID to TPDO4 COB-ID OD [1803h,01h].

3. Set to timer event mode. Write FEh to TPDO1 transmission type OD [1800h,02h].

4. Set the timer interval. Write interval timer value to Timer interval OD [2001h,00h].

5. Set Internal Filter Write value (00h-03h) to AI filter tap constant1 OD [61A1h, 01h]. 6. Apply OD [1800h,02h], OD [2001h,00h], OD [61A1h,01h] settings. Write x1h to OD [2005h,00h] to Apply parameters. (This takes several seconds to complete.) 7. Enable TPDO

Write 4000 0180h+NID to TPDO1 COB-ID OD [1800h,01h]. Write 4000 0280h+NID to TPDO2 COB-ID OD [1801h,01h]. Write 4000 0380h+NID to TPDO3 COB-ID OD [1802h,01h].

8. After the sensor unit has been set to operational mode, TPDOs will be sent by timer event trigger.

SYNC producer (PC) SYNC consumer (Node) PDO producer (Node)

TPDO1(*)

0001b 0000000b Cn SYNC

TPDO2(*)

TPDO3(*)

0011b NID Ax

0101b

0111b

Ay

NID Az - Sc

NID Dy - Ms

PDO consumer (PC)

0001b 0000000b Cn SYNC

: : n times SYNC messages

ignore

trigger

(*) This can be disabled.



Figure 6-7 Timer Event Mode Sequence

6.4.3 MEASUREMENT VALUES

The accelerometer axes are defined as is shown in Figure 6-8 and the list of measurement values are shown in Table 6-9.

Figure 6-8 Definition of Axes

Table 6-9 List of Measurement Values

Name Code OD mapping Sensor type Data type Unit

Acceleration (x) Ax (Ix) OD [9130h,01h]

accelerometer INTEGER32

Accelerometer 1/224 G (Q24 format signed fixed point)

Inclinometer 1/229 radian (Q29 format signed fixed point)

Acceleration (y) Ay (Iy) OD [9130h,02h]

Acceleration (z) Az (Iz) OD [9130h,03h]

Days Dy OD [2101h,01h] time stamp

UNSIGNED16 Days (from 1/1/1984 in the Gregorian calendar）

Milliseconds Ms OD [2101h,02h] UNSIGNED32 msec (from 0:00am)

Sample counter Sc OD [2100h,01h] counter UNSIGNED16 Count

Temperature Tmp OD [9130h,04h] temperature INTEGER32

Temperature 32bit 2’s complement binary

PDO consumer (PC) PDO producer

TPDO1(*)

Timer event

TPDO2(*)

TPDO3(*)

0011b NID Ax

0101b

1001b

Ay

NID Az (0) Sc

NID Dy (0) Ms

(*) This can be disabled.

CONTROL SEQUENCE


Accelerometer The accelerometer data format is Q24 represent as signed 32bit fixed point in 2’s complement. Unit: G bit31: sign (+/-) bit30-24: integer bit23-0: fraction For out of range measurements, the unit outputs 0x63000000(+99G) or 0x9D000000(-99G).

Figure 6-9 Q24 Signed Fixed-point Format

Tilt angle The tilt angle data format is Q29 represented as signed 32bit fixed point in 2’s complement. Unit: radian bit31: sign(+/-) bit30-29: integer bit28-0: fraction For out of range measurement, the output is 0x374AC286 (+99degree) or 0xC8B53D7A (-99degree).

Figure 6-10 Q29 Signed Fixed-point Format

Temperature The internal temperature sensor value can be read from this register. The output data format is 32-bit two's complement format. Please refer to the below formula for conversion to temperature in centigrade. Please refer to Table 2.3 Sensor Specification for the scale factor value. The reference value in this register is for the temperature correction. There is no guarantee that the value provides the absolute value of the internal temperature. T []= SF * a + 34.987

SF: Scale Factor A: Temperature sensor output data (decimal)

Figure 6-11 Temperature Data Format

signed Integer (8bits) Fraction (24bits)

= 2.135742188 0 0 0 0 0 0 1 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0

31 24 23 0

signed Integer (3bits) Fraction (29bits)

0 0 0 1 0 0 1 0 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0

31 29 28 0

signed Integer (32bits)

= 34.058 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 1 0 1

31 23 15

0 0 0 0 0 0 0 0

0 7

= 32.4719deg



6.4.4 INTERNAL FILTER

The sensor unit contains internal programmable FIR filters. The FIR filter settings can be set using OD[61A1h,01h]. Filter parameters correspond to the Kaiser window parameters. The number of TAPs can be set to 64, 128, or 512, and the cutoff frequency Fc can be selected according to the output sample rate. Figure 6-12 to Figure 6-15 show the typical characteristic of the filters.

The proper filter cutoff frequency depends on the timer interval (sampling rate). Referring to Table 6-10, after the timer interval is set, the cutoff frequency is reset to default setting. When the sampling rate is set, the filter should be set again if a supported cutoff frequency different from default is desired.

0001: FIR Kaiser Filter TAP=64、fc=83 0010: FIR Kaiser Filter TAP=64、fc=220 0011: FIR Kaiser Filter TAP=128、fc=36 0100: FIR Kaiser Filter TAP=128、fc=110 0101: FIR Kaiser Filter TAP=128、fc=350 0110: FIR Kaiser Filter TAP=512、fc=9 0111: FIR Kaiser Filter TAP=512、fc=16 1000: FIR Kaiser Filter TAP=512、fc=60 1001: FIR Kaiser Filter TAP=512、fc=210 1010: FIR Kaiser Filter TAP=512、fc=460 1011: User Defined FIR Filter TAP=4 1100: User Defined FIR Filter TAP=64 1101: User Defined FIR Filter TAP=128 1110: User Defined FIR Filter TAP=512 1111: not used

CONTROL SEQUENCE


Figure 6-12 FIR Kaiser Characteristics－TAP512




CONTROL SEQUENCE





Figure 6-15 FIR Kaiser Characteristics－Group Delay

Table 6-10 Supported Settings Output Rate and Filter Cutoff Frequency

Group Delay

Timer Interval (Output Rate)

1s< (<1sps)

2ms (500sps)

5ms (200sps)

10ms (100sps)

20ms (50sps)

Filter 512Tap

100Hz

63.9ms

Invalid Invalid Invalid Invalid Invalid 50Hz Invalid Default Invalid Invalid Invalid

20Hz Invalid Valid Default Invalid Invalid

10Hz Invalid Valid Valid Default Invalid 5Hz Default Valid Valid Valid Default

* When the sampling rate is set, the filter should be set again if a supported cutoff frequency different from default is desired.

6.4.5 User Defined Filter

This product has a user-defined filter (UDF) function that allows users to arbitrarily define and set FIR filter coefficients that differ from the pre-defined characteristics described in the previous section. These coefficients are stored in non-volatile memory. Therefore, the filter coefficients are retained when the unit is power cycled. However, only one set of user-defined FIR coefficients can be saved.

Figure 6-16 FIR Filter Block Diagram

CONTROL SEQUENCE


The user-defined filter coefficient programming method is as follows. Set the FIR filter coefficient in each index location in the RAM work area by SDO command /

response using the Host Interface （OD[2008h,01] ~ OD[2008h,03]）. Save / read FIR coefficients programmed in the RAM work area to UDF valid area (non-volatile

memory) by command （OD[2007h,00]）. For specific SDO command / response specifications, please refer to Appendix2. A.2.2.1 to A.2.2.4.

Figure 6-17 User Defined Filter (UDF) Access Method

UDF access procedure example: The user-defined filter related settings can only be programmed in pre-operational mode. 1. Switch to pre-operational mode. 2. Configure the Tap Number of the UDF FIR coefficients.

Set the tap number in OD [2008h, 01] as an unsigned 16-bit integer. (Set from 4/64/128/512） 3. Access the FIR coefficients in the RAM work area.

Set the index value in OD [2008h, 02]. (For tap4: 0 to 3, for tap512: set in the range of 0 to 511) When reading FIR coefficients The FIR coefficient can be read from OD [2008h, 03] as signed 32 bits. When the FIR coefficient value is returned, the index in OD [2008h, 02] is automatically incremented by 1, so for subsequent read accesses, continuous reading is possible without setting the index on OD [2008h, 02] When writing FIR coefficients Write the signed 32-bit FIR coefficient to OD [2008h, 03]. After writing this FIR coefficient value, the index of OD [2008h, 02] is automatically incremented by 1, so for subsequent write accesses, continuous writing is possible without setting the index on OD [2008h, 02] NOTE: It is not recommended to read and write alternately because the index is automatically incremented for each read / write. When performing batch reading and writing, or when reading and writing data one by one, set an index each time for each access.

4. Continue to write or read the FIR coefficients for the specified tap number as per step 2. 5. Save the RAM work area data to the UDF valid area.

Write 21h to OD[2007h, 00] (LED blinks with Double Flash pattern) Check the completion of the command by polling and reading OD[2007h, 00]

6. Set the filter tap constant to the correct user-defined filter in OD[61A1h, 01]. 7. Write [x1h] (x can be 0, 1, or 2) to OD[2005h, 00] and confirm the sensor parameters.

Sensor data will now be processed with the user-defined filter set above.



6.5 TIME SETTING

The internal timer in this sensor unit is initialized by the host sending a time message. If there are several time stamp consumers in the bus, the time message will set the internal timer of all nodes in the bus. The time is represented as days since January 1 1984 (readable from OD [2101h, 01h]) and milliseconds since 0:00 midnight (readable from OD [2101h, 02h]). The OD must not be read from until at least 3 milli-seconds have elapsed since the last time message has been sent. The sensor unit can accept a time message during pre-operational and operational modes. However, it is recommended that the time message be sent to a node in pre-operational mode to prevent delays in setting the internal timer of the unit. Do not set a value equal to or larger than 86400000msec (one day maximum) to the milliseconds parameter (Ms) of the time message. The valid values for days parameter (Dy) is 0 to 65535.

Figure 6-18 TIME Sequence

Table 6-11 Time Information Format

Item Bit field Content Value Comment Dy bit15-0 Days from 1 Jan,1984 0 to 65535 Gregorian calendar

Ms bit3-0 reserved (fixed 0) bit31-4 Milli-second from 0:00am 0 to 86399999 Local time

Producer (PC) Consumer1 (Node)

0010b 0000000b Ms TIME

Dy

Consumer2 (Node) Consumer3 (Node)

CONTROL SEQUENCE


6.6 HEARTBEAT

If enabled, the sensor unit can send a periodic heartbeat message indicating its status. The HB consumer uses this message to check the state of a sensor unit. HB consumer can detect abnormality of sensor unit and its communication. This unit operates as HB producer only.

Figure 6-19 HB Sequence

The period of the heartbeat message is specified by the value of producer heartbeat time OD [1017h]. If this OD is set to 00h, HB message is disabled. By default, this message is disabled. The sensor unit sends one heartbeat message as a bootup message after initialization is complete, regardless of the value specified in OD [1017h, 00h]. There is no way to disable the bootup message output.

Figure 6-20 HB Operation Example

6.7 SYNC PRODUCER

The sensor unit can be configured to transmit a periodic SYNC message by enabling the SYNC producer function. By using this function, other SYNC consumers can be synchronized to transmit TPDOs simultaneously. This unit can also send TPDO messages after receiving its’ own SYNC message.

Producer (PC) Consumer (Node)

1110

NID HB

St

00h=boot-up 04h=stop 05h=operational 7Fh=pre-operational

boot-up (St=00h)

Power ON Reset node

Reset

Operational (St=05h)

Initialization 10sec 10sec 10sec





A sample procedure for activating this mode is given below. 1. Disable SYNC producer.

Write 0000 0080h to SYNC COB-ID OD [1005h, 00h]. Write 0000 0000h to Communication cycle period OD [1006h, 00h].

2. Set SYNC counter overflow value. (Note: This step is optional.) Write desired value (00h or 02h to F0h) to synchronous counter overflow value OD [1019h, 00h]. If this OD is set to 00h, the SYNC counter function is disabled, and the SYNC message does not contain a SYNC counter parameter (Cn). Refer to 6.8 in case of setting value of 02h-F0h.

3. Set SYNC period value. Write desired value in units of microseconds (0000 0000h to FFFF FFFFh) to communication cycle period OD [1006h, 00h]. Values written to this OD are automatically rounded down to milliseconds; therefore, the write value must be a multiple of 1000. If this OD is set to 0000 0000h, the sensor unit will not send SYNC messages.

4. Enable SYNC producer. SYNC message will be sent periodically. Write 4000 0080h to SYNC COB-ID OD [1005h, 00h].

If the sensor unit operates as SYNC producer and the SYNC counter overflow value OD [1019h, 00h] has a value of 02h to F0h, the SYNC message transmitted by the unit will contain a counter parameter (Cn). The counter starts from 1 and increments by 1 after each SYNC message. When the counter reaches the overflow value, on the next SYNC message the counter returns to 1.

Figure 6-21 SYNC Counter Overflow Example

(ex) Synchronous counter overflow value is

SYNC 0001b 0000000

1

SYNC 0001b 0000000

2

SYNC 0001b 0000000

3

SYNC 0001b 0000000

1

SYNC 0001b

CONTROL SEQUENCE


6.8 APPLICATION OF SYNC COUNTER

This section describes the application with SYNC counter in the synchronous mode. Ex1. TPDO output once every three times SYNC message TPDO is output according to the number of receptions of SYNC messages. And it does not depend on the presence of the counter value of the SYNC counter. A sample procedure for this mode is given below.

Figure 6-22 TPDO Output Once Every Three SYNC Messages

1. Enter pre-operational mode. 2. Disable TPDO1, TPDO2, TPDO3 and TPDO4.


3. Disable SYNC producer. 4. Set SYNC counter overflow value.

Write 00h to synchronous counter overflow value OD [1019h, 00h]. 5. Set SYNC period value.

Write desired value in units of microseconds (0000 0000h to FFFF FFFFh) to communication cycle period OD [1006h, 00h]. Values written to this OD are automatically rounded down to milliseconds; therefore, the write value must be a multiple of 1000. If this OD is set to 0000 0000h, the sensor unit will not send SYNC messages. The following 6 to 7 steps refer to TPDOn where (n = 1, 2, 3).

6. Set to synchronous mode (SYNC period value set to 3 for example). Write 03h for SYNC period (1 to 240) to TPDO1 transmission type OD [1800h, 02h]. The same value is set to TPDO2/3/4 transmission type OD [180x, 02h].

7. Enable TPDOn. Write 4000 0180h+NID to TPDO1 COB-ID OD [1800h,01h] Write 4000 0280h+NID to TPDO2 COB-ID OD [1801h,01h] Write 4000 0380h+NID to TPDO3 COB-ID OD [1802h,01h]

8. Enter operational mode. 9. Enable SYNC producer. SYNC message will be sent periodically.

Ex2. TPDO output once when SYNC counter is multiple of three

TPDO is output when the SYNC counter value of the SYNC message becomes the multiple of n. The SYNC counter must be included in the SYNC message. A sample procedure for this mode is given below, in this case, the synchronous counter overflow value is set to 5, and the SYNC period value is set to 3.

SYNC(1)

TPDO

( ) is SYNC count value.

TPDO TPDO

t



Figure 6-23 TPDO Output Once When SYNC Counter is Multiple of Three

1. Enter pre-operational mode. 2. Disable TPDO1, TPDO2, TPDO3 and TPDO4.


3. Disable SYNC producer. 4. Set SYNC counter overflow value.

Write 05h to synchronous counter overflow value OD [1019h, 00h]. 5. Set SYNC period value.

Write desired value in units of microseconds (0000 0000h to FFFF FFFFh) to communication cycle period OD [1006h, 00h]. Values written to this OD are automatically rounded down to milliseconds; therefore, the write value must be a multiple of 1000. If this OD is set to 0000 0000h, the sensor unit will not send SYNC messages.

10. Set to synchronous mode (SYNC period value set to 3 for example). Write 03h for SYNC period (1 to 240) to TPDO1 transmission type OD [1800h, 02h]. The same value is set to TPDO2/3/4 transmission type OD [180x, 02h].

11. Enable TPDOn. Write 4000 0180h+NID to TPDO1 COB-ID OD [1800h,01h] Write 4000 0280h+NID to TPDO2 COB-ID OD [1801h,01h] Write 4000 0380h+NID to TPDO3 COB-ID OD [1802h,01h]

12. Enter operational mode. 13. Enable SYNC producer. SYNC message will be sent periodically.

SYNC (1) SYNC (2) SYNC (3) SYNC (4) SYNC (5) SYNC (1) SYNC (2) SYNC (3) SYNC (4) SYNC (5) SYNC (1)

TPDO

() is SYNC count value.

TPDO

t

CONTROL SEQUENCE


6.9 AUTO OUTPUT SETTING

This section describes the Auto output setting, which enables the sensor unit to send measurement data output immediately after boot-up and initialization. A sample procedure for this mode is given below. 1. Enter pre-operational mode. 2. Disable TPDO1, TPDO2, TPDO3 and TPDO4.


3. Set to sampling mode. Write FEh to TPDO1 transmission type OD [1800h, 02h]. (The same value is set to TPDO2/3/4 transmission type OD [180x, 02h].)

4. Set the timer intervals. Write interval timer value to Timer interval OD [2001h,00h].

5. Set Internal Filter Write value to AI filter tap constant 1 OD [61A1h, 01h].

6. Enable TPDO. Write 4000 0180h+NID to TPDO1 COB-ID OD [1800h,01h] Write 4000 0280h+NID to TPDO2 COB-ID OD [1801h,01h] Write 4000 0380h+NID to TPDO3 COB-ID OD [1802h,01h] Write 4000 0480h+NID to TPDO3 COB-ID OD [1803h,01h]

7. Set NMT startup mode to Operational Write 0000 0008h to NMT startup mode OD[1F80h,00h].

8. Save OD settings to non-volatile memory Write 6576 6173h to Save all parameters OD [1010h,01h]. During the saving process, do not power off the device before completion (Otherwise non-volatile memory can be corrupted).

9. Power off after 3 seconds has elapsed.

6.10 CAN NODE SETTING

This section describes the node setting, which changes the node-ID and CAN bitrate of the sensor unit. Only one node should be connected so that the node-ID does not overlap. 1. Enter pre-operational mode. 2. Set node-ID and CAN bitrate.

Write value of 0 -127 as node-ID to CAN node-ID OD [2000h,01h]. Write following value to CAN bitrate OD [2000h,02h].

00h=1Mbps 01h=800kbps 02h=500kbps 03h=250kbps 04h=125kbps 05h=50kbps 06h=20kbps 07h=10kbps

3. Save OD settings to non-volatile memory Write 65766173h to Save all parameters OD [1010h,01h]. During the saving process, do not power off the device before completion (Otherwise non-volatile memory can be corrupted).

4. Power off after 3 seconds has elapsed.



6.11 BUS STATUS & LED INDICATOR

Bus status and error mode of the unit is defined as shown in Table 6-12. The bus status depends on the frequency of a bus error (send error or receive error). NOTE: During system boot-up, the bus status does not change to the bus-off, regardless of the frequency of bus error occurrence.

Table 6-12 Bus / Error Status

Bus/Error Status

Descriptions LED(RED) Comment

Bus Normal

Normal condition or the error rate is low Off The unit is working properly.

Bus Heavy The error rate on the bus is high. Single flash

ON for 200msec OFF for 1000msec

This is a warning state. The unit is still working.

Boot-up Message Error

The host device is not working during boot-up.

The host device on the bus should be checked.

Bus Off Critical failure on the bus. On

The bus has a serious condition and the unit has stopped normal operation. To recover Bus off, the Bus off release procedure or a reboot of the system is necessary.

Parameter Memory Checksum Error

The parameter data saved in non-volatile memory is incorrect.

Blink ON for 200msec OFF for 200msec

The most recent save parameter operation failed and must be saved again. After successful save parameter operation, reboot the system.

CONTROL SEQUENCE


Bus normal

Bus heavy Bus off

Boot-up

Parameter load

Boot-up message error

Event : Parameter memory Check-sum error

Action : Led-red blink

Event : Ack receive Action : Led-red off

Event : Increase send/receive error Action : Led-red single flash

Event : Boot-up message error Action : Led-red single flash

Event : Decrease send/ receive error Action : Led-red off

Event : Increase send error Action : Led-red on

Event : Bus off release Action : Led-red off

Event : Ack time out Action : Send boot message

Event : Boot-up successful

CAN Bus state transition

Event : Parameter load successful Action : Led-red off

Figure 6-24 CAN Bus State Transition Diagram During Bus-off state, the unit enters a special mode where message transmission is prohibited. The unit can still receive NMT commands during Bus-off state. The procedure to recover from Bus-off state is given below.

• Power off and Power on of the unit, or • Send the reset node command or reset communication command after receiving of the 11-bit

recessive signal 128 times (Normally, except for master device on the network, no other node should be transmitting any message on the bus during this period).

The protocol used for LED indicators is a slightly modified version of the CANopen specification as described in CiA DS-303-3. When the green LED and the red LED are ON, the indicator looks orange, because of the bi-color LED.



Table 6-13 Run LED Status

Status Run LED (green) Comment Initialization Off Pre-operational Blinking ON for 200msec, OFF for 200msec Operational On Stopped Single flash ON for 200msec, OFF for 1000msec Erase non volatile memory Double flash ON for 200msec, OFF for 200msec、

ON for 200msec, OFF for 1000msec

HANDLING NOTES


7 HANDLING NOTES

7.1 CAUTIONS FOR ATTACHING

• The product contains quartz crystal oscillator created by microfabrication. Take precaution to prevent falling or excessive impact. Do not use the product after an accidental fall or it experiences excessive impact. The possibility of a failure and risk of malfunction from failure increases.

• Excessive vibration, shock, continuous stress, or sudden temperature change may increase the possibility of failure.

• The product should be kept powered on for more than 15 minutes to measure with highest precision and accuracy.

• Do not connect the product to a CAN bus network with the supply voltage turned on. • When attaching the product, ensure that the product is properly mounted to avoid mechanical stress such

as a warping or twisting. In addition, ensure appropriate torque is applied when tightening the screws but not too excessive to cause the mount of the product to deform or break. Use screw locking techniques as necessary.

• When setting up the product, ensure that the equipment, jigs, tools, and workers maintain a good ground in order not to generate high voltage discharge. Applying over current or static electricity to the product may damage the product permanently.

• When installing the product, ensure that metallic or other conductive material do not enter the product. Otherwise, malfunction or damage of the product may result.

• If excessive shock is applied to the product when, for example, the product falls, the quality of the product may be degraded. Ensure that the product does not fall when you handle it.

• Before you start using the product to obtain measurements, test it in the actual equipment under the actual operating environment to confirm proper operation.

• When connecting a cable to this product, tighten the screw enough after inserting it completely. This product may not satisfy IP67 if tightening is insufficient.

• Do not use the product in a situation where power is always applied to the joint of connector. • Ensure that the signals are wired correctly with attention to the name and the polarity of each signal. • Since the product has capacitors inside, inrush current occurs immediately after power-on. Evaluate in

the actual environment in order to check the effect of the supply voltage sag caused by inrush current in the system.

7.2 OTHER CAUTIONS

• This product is water-proof and dust-proof in conformity with IP67. We do not guarantee the operation of the product when exposed to condensation, dust, oil, corrosive gas (salt, acid, alkaline, etc), or direct sunlight which surpass IP67. Do not use this product under water.

OVERVIEWHANDLING NOTES


• Only use a connector that conforms with IP67. In case of improper or incomplete connection, water-proofness and dust-proofness is not guaranteed.

• This product is not designed to be radiation resistant. • Never use this product if the operating condition is over the absolute maximum rating. Otherwise,

permanent damage to the product may result. • If the product is exposed to excessive external noise or other similar conditions, degradation of the

precision, malfunction, or damage to the product may result. The system needs to be designed so that the noise itself is suppressed or the system is immune to the noise.

• This product is not designed to be used in equipment that demands extremely high reliability and where its failure may threaten human life or property (for example, aerospace equipment, submarine repeater, nuclear power control equipment, life support equipment, medical equipment, transportation control equipment, etc.). Seiko Epson Corporation will not be liable for any damages caused by the use of the product for those applications.

• Do not apply shock or vibration to the packing box. Do not spill water over the packing box. Do not store or use the product in an environment where dew condensation occurs due to rapid temperature change.

• Do not put mechanical stress on the product while it is stored. • Do not alter or disassemble the product. • Do not use in water except if it gets temporarily wet based on IP67. This product does not achieve the

sufficient waterproof performance if the connector is mated incorrectly or if the mating connector does not satisfy IP67.

• The power supply to this product must satisfy the voltage rating within 2 seconds after it is turned on. • Do not use thinner or similar liquids on this product. When cleaning this product, alcohol may be used. • Total length of cables should be less than the maximum total length of cable defined in Table 5-1. It is

recommended that the cable satisfy the CAN standard.

7.3 LIMITED WARRANTY

• The product warranty period is one year from the date of shipment. • If a defect due to a quality failure of the product is found during the warranty period, we will promptly

provide a replacement.

PART NUMBER / ORDERING INFO.


8 PART NUMBER / ORDERING INFO.

The following is the ordering code for the product: Product Name Model Name Product Number Comment Accelerometer for CAN Interface M-A552AC10 E91E614010 Accelerometer for RS-422 Interface M-A552AR10 E91E614020 Accelerometer for Embedded Interface M-A352AD10 E91E606300

OVERVIEWPART NUMBER / ORDERING INFO.


Appendix1. MESSAGES

A.1.1. NMT message

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 0000b 0000000b 2 Cs Id

Cs command specifier

01h = start 02h = stop 80h = enter pre-operational 81h = reset node 82h = reset communication otherwise = reserved

Id consumer node-ID 00h = all node 01h-7Fh = node-ID otherwise = reserved

This message changes the state of the node specified by Id. If the reset node or reset communication command is specified by Cs, this message resets the node. If Id is 00h, this message affects all nodes in the network. The sensor unit operates as NMT consumer only.

A.1.2. SYNC message

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8

0001b 0000000b 1 Cn 0

Cn SYNC counter

01h-F0h = count value otherwise = reserved

This message is used for the synchronized transmission of the PDO sequence. This message gives the measurement trigger to all SYNC consumers on the network. A SYNC consumer that receives a SYNC message returns measurement data as TPDO message. The SYNC message has an optional counter Cn which can be used by SYNC consumers that support this feature. SYNC messages which have no Cn will have DLC = 0.

The sensor unit can operate as a SYNC consumer or SYNC producer. When operating as a SYNC producer, the SYNC counter is optional and is enabled by OD [1019h, 00h].

A.1.3. TIME message

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8



0010b 0000000b 6 Dy Ms

Dy time of day 0000h-FFFFh = the elapsed days from 1.Jan,1984

Ms time difference bit3-0: (fixed 0) bit31-4: the elapsed milli-second from 0:00am(midnight)

This message sets the time synchronization for all timestamp consumers on the network. The sensor unit operates as timestamp consumer only. A recommendation is to send this message in pre-operational mode, to prevent delays in setting the internal timer of the unit. Do not set a value to bit31-4 (Ms) greater than or equal to 86400000msec (the maximum value of one day).

A.1.4. TPDO1 message

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 0011b Node-ID 8 Ax (Ix) Ay (Iy)

Ax acceleration along x-axis (fixed point) Ay acceleration along y-axis (fixed point) (Ix) Tilt angle along x-axis (fixed point) (Iy) Tilt angle along y-axis (fixed point) The sensor unit outputs signed fixed-point format using the TPDO1 message. Acceleration

The format is Q24 signed 32bit fixed point format. Unit: G

Tilt angle

The tilt angle data format is Q29 signed 32bit fixed point format. Unit: radian

Transmission of TPDO1 message is triggered by a SYNC message or sensor sampling event. A host device may enable or disable TPDO1 output by TPDO1 COB-ID OD [1800h, 01h]. Concerning the data format, refer to 6.4.3 MEASUREMENT VALUES


COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 0101b Node-ID 6 Az(Iz) Sc -



Az acceleration along z-axis (fixed point) (Iz) Tilt angle along z-axis (fixed point) Sc sample counter (0 to 65535) The sensor unit outputs measurement data using the TPDO2 message. Transmission of TPDO2 message is triggered by a SYNC message or sensor sampling event. A host device may enable or disable TPDO2 output by TPDO2 COB-ID OD [1801h, 01h].


COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 0111b Node-ID 6 Dy Ms -

Dy time of day

0000h-FFFFh = the elapsed days from 1. Jan,1984 Ms time difference

bit3-0: (fixed 0) bit31-4: the elapsed milli-second from 0:00am(midnight)

The sensor unit outputs the time information of measurement data using the TPDO3 message. Transmission of TPDO3 message is triggered by a SYNC message or sensor sampling event. A host device may enable or disable TPDO3 output by TPDO3 COB-ID OD [1802h, 01h]

A.1.7. TPD04 message

The sensor unit outputs the temperature data using the TPDO4 message. Temperature The temperature data is represented in the binary form. Unit: degree C Refer to 6.4.3 MEASUREMENT VALUES Transmission of TPDO4 message is triggered by a SYNC message or sensor sampling event. A host device may enable or disable TPDO4 output by TPDO4 COB-ID OD [1803h, 01h]

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 1001b Node-ID 4 Temperature -



A.1.8. TSDO message

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 1011b Node-ID 8 Cs Pi Ps Pd


43h = 4byte data (read sequence) 4Bh = 2byte data (read sequence) 4Fh = 1byte data (read sequence) 60h = success (write sequence) 80h = failure (write sequence)

Pi index Ps sub-index Pd (read sequence) data

(write sequence) fixed 0000h (error case) abort code

The sensor unit sends this message as a response to a request message from an SDO client. In a read sequence, this message contains the data output. In a write sequence, this message contains the result of the write operation. If an error occurred, this message contains the abort code.

A.1.9. RSDO message

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 1100b Node-ID 8 Cs Pi Ps Pd


40h = read request (read sequence) 23h = 4byte data (write sequence) 2Bh = 2byte data (write sequence) 2Fh = 1byte data (write sequence)

Pi index Ps sub-index Pd (write sequence) data

(read sequence) don't care The SDO client sends this message as request to the sensor unit. In a read sequence, the SDO client sets the index and sub-index. In a write sequence, it sets the index, sub-index and data.

A.1.10. HB message

COB-ID DLC CAN data field FC NID 1 2 3 4 5 6 7 8 1110b Node-ID 1 St

St state of unit

00h = boot-up 04h = stop 05h = operational 7Fh = pre-operational



If enabled, the sensor unit sends a heartbeat message periodically. This message contains information of the current NMT state of the sensor unit. By default, this message is not enabled. A host device may enable heartbeat output by specifying the heartbeat interval in Producer heartbeat time OD [1017h, 00h]. The sensor unit sends one heartbeat message as a bootup message during initialization, regardless of the value specified in OD [1017h, 00h]. There is no way to disable the bootup message output.



Appendix2. OBJECT DICTIONARY

Example Index Sub Data type Access type Default value Save (1) (2) (3) (4) (5) (6) Function Data field Description Restriction

(1) Index No (2) Sub index No (3) Data type U8 = 8bit unsigned integer (0 to 255) U16 = 16bit unsigned integer (0 to 65535) U32 = 32bit unsigned integer (0 to 4294967295) I16= 16bit signed integer (-32768 to 32767) VS = Array[4] of character (ex: 65766173h = "save") (4) Access type const = Constant (never changes) ro = read only rw = read /write (5) Default value (6) An OD entry that has "#" in "SAVE" column is saved to non-volatile memory.

A.2.1. COMMUNICATION PROFILE （DS-301）

A.2.1.1 Device type

Index Sub Data type Access type Default value Save 1000h 00h UNSIGNED32 const 0002 0194h - Function Device type

Data field

bit15-0: device profile 0194h(404)=DS-404（DS-404 standard, measurement device profile） bit31-16: measurement type 0002h=Analog input block

A.2.1.2 Error register

Index Sub Data type Access type Default value Save 1001h 00h UNSIGNED8 ro 00h - Function Error register

Data field bit0: generic error 0=no error 1=error bit7-1: (reserved)

Description This register shows a generic error status of the sensor unit.



A.2.1.3 Manufacturer status register

Index Sub Data type Access type Default value Save 1002h 00h UNSIGNED32 ro 0000 0000h - Function Manufacturer status register

Data field

bit6-0: (reserved) bit7: sensor error 0= no error, 1=error bit8: non volatile memory error 0= no error, 1=error bit31-9: (reserved)

Description This register shows a particular error status of the sensor unit. If a sensor error occurred, the bit 7 becomes 1. If a logging memory delete error occurred, the bit 8 becomes 1.

A.2.1.4 SYNC COB-ID

Index Sub Data type Access type Default value Save 1005h 00h UNSIGNED32 rw 0000 0080h # Function SYNC message output control and SYNC COB-ID

Data field

bit10-0: SYNC COB-ID (fixed 0001 0000000b) bit29-11: (fixed 0) bit30: generate SYNC message 0=not generate 1=generate bit31: (fixed 0)

Description

This OD enables or disables the SYNC producer. The host device must set the communication cycle period OD [1006h, 00h] and the synchronous counter overflow value OD [1019h, 00h], before starting the SYNC producer. If the unit operates as SYNC producer and OD [1019h, 00h] = 02h-F0h, the SYNC message transmitted by the unit will have a Cn (counter) parameter with initial value of 1. The SYNC COB-ID is fixed.

Restriction The message for “generate” is valid at operational mode only.

A.2.1.5 Communication cycle period

Index Sub Data type Access type Default value Save 1006h 00h UNSIGNED32 rw 0000 0000h # Function Period of SYNC message output

Data field bit31-0: SYNC cycle period [usec] （0000 0000h the SYNC message is not generated.

Description This OD sets the period of SYNC message output. The value written to this OD is automatically rounded down to [msec].

Restriction When Sync message is generate (OD 1005h /bit30=1) this OD is not changed.

A.2.1.6 Manufacturer device name

Index Sub Data type Access type Default value Save 1008h 00h VISIBLE_STRIN

G4 const 3235 3541h ("A552") -

Function Device name

Data field bit31-0: device name 3235 3541h ("A552")



A.2.1.7 Manufacturer hardware version


G4 const 30314341h ("AC10")

-

Function Hardware version

Data field bit31-0: hardware version

A.2.1.8 Manufacturer software version

Index Sub Data type Access type Default value Save 100Ah 00h VISIBLE_STRIN

G4 const See “Data field” -

Function Software version

Data field bit31-0: software version ex. 30302E31h ("1.00") The latest version is stored as an ASCII code

A.2.1.9 Save all parameters


G4 rw 0000 0001h -

Function Save OD settings to non-volatile memory Data field (Write)

bit31-0: keyword 6576 6173h("save")=save parameters otherwise=ignore (Read) bit31-0: (fixed 0000 0001h)

Description When the host device writes "save" (6576 6173h) in ASCII to this OD, all saveable OD are stored to non-volatile memory. Confirm the save OD command is accepted by SDO response. Wait for at least 200msec after execution, and then reset or reboot. During saving process, the power supply must be stable. In case of power off or unstable level, non-volatile memory may be written incorrect data.

A.2.1.10 Restore all default parameters


G4 rw 0000 0001h -

Function Load OD with factory default values from non-volatile memory

Data field

(Write) bit31-0: keyword 6461 6F6Ch("load")=restore parameters otherwise=ignore (Read) bit31-0: (fixed 0000 0001h)

Description

When the host device writes "load” (6461 6F6Ch) in ASCII to this OD, all saveable OD are restored to factory default values. It takes for 1sec to load the values. The newly-restored values are not saved automatically to non-volatile memory. The host device is required to send a save command to make the changes permanent. Finally, a reboot or NMT Reset Node message is required before the changes in OD become valid.



A.2.1.11 TIME COB-ID

Index Sub Data type Access type Default value Save 1012h 00h UNSIGNED32 const 8000 0100h - Function TIME message COB-ID

Data field bit10-0: TIME COB-ID (fixed 0010 0000000b) bit30-11: (fixed 0) bit31: (fixed 1)

Description The TIME consumer is always enabled. The TIME COB-ID is fixed.

A.2.1.12 Producer heartbeat time

Index Sub Data type Access type Default value Save 1017h 00h UNSIGNED16 rw 0000h # Function Period of heartbeat output Data field bit15-0: heartbeat cycle period [msec]

Description This OD sets heartbeat cycle time in milliseconds. The heartbeat message output becomes valid after a non-zero value is written to this OD. The heartbeat message output is disabled when 0000h is written to this OD.

A.2.1.13 Synchronous counter overflow value

Index Sub Data type Access type Default value Save 1019h 00h UNSIGNED8 rw 00h # Function SYNC counter output control and overflow value

Data field

bit7-0: synchronous counter overflow value 00h=SYNC message has no counter 02h-F0h=overflow value otherwise=reserved

Description

When the host device sets 02h-F0h to this OD, the SYNC message transmitted by the unit (when operating as SYNC producer) has an optional counter. The SYNC producer increments the counter value by 1 every time it sends a SYNC message. When the counter value matches the maximum value defined by this OD, the counter resets to 1 at the next SYNC. The SYNC counter starts with a value of 1 in the first SYNC message, which is transmitted when 1 is written to bit 30 of the SYNC Producer Enable OD [1005h, 00h]. The SYNC message has no optional counter when 00h is written to this OD.

Restriction

The host device can change the value of this OD only when the communication cycle period OD [1006h, 00h] is 0000 0000h.

A.2.1.14 RSDO COB-ID

Index Sub Data type Access type Default value Save 1200h 01h UNSIGNED32 ro 0000 0600h+NID - Function RSDO message COB-ID

Data field bit10-0: RSDO COB-ID (1100 0000000b+ NID) bit31-11: (fixed 0)



Description The RSDO COB-ID is permanently fixed to 00000600h + NID.

A.2.1.15 TSDO COB-ID

Index Sub Data type Access type Default value Save 1200h 02h UNSIGNED32 ro 0000 0580h+NID - Function TSDO message COB-ID

Data field bit29-0: TSDO COB-ID (1011 0000000b+ NID) bit31-30: (fixed 0)

Description The TSDO COB-ID is permanently fixed to 00000580h + NID.

A.2.1.16 TPDOn COB-ID

Index Sub Data type Access type Default value Save 1800h 1801h 1802h 1803h

01h UNSIGNED32 rw

4000 0180h+NID 4000 0280h+NID C000 0380h+NID C000 0480h+NID

#

Function TPDOn message output control and TPDOn COB-ID Index 1800h=TPDO1, 1801h=TPDO2, 1802h=TPDO3, 1803h=TPDO4

Data field

bit10-0: TPDOn COB-ID (read only) bit29-11: (fixed 0) bit30: (fixed 1) bit31: validity of TPDOn message output 0=TPDOn is enabled 1=TPDOn is not enabled

Description This OD enables or disables the output TPDOn message. The TPDOn COB-ID is permanently fixed to 0n80h+NID.



A.2.1.17 TPDO transmission type

Index Sub Data type Access type Default value Save 1800h

02h UNSIGNED8

rw 01h # 1801h ro 01h 1802h ro 01h 1803h ro 01h Function TPDOn transmission type Index 1800h=TPDO1, 1801h=TPDO2, 1802h=TPDO3, 1803h=TPDO4

Data field

bit7-0: TPDOn transmission type 00h=synchronous mode (by every SYNC message) 01h-F0h=synchronous mode (by n times SYNC messages) FEh=timer event mode otherwise=reserved

Description

This OD specifies the transmission type. When the value of this OD is 00h, the transmission type is synchronous mode. The sensor node sends TPDO messages for every SYNC message received. When the value of this OD is 01h to F0h, the transmission type is synchronous mode too. This unit sends TPDO messages when the number of SYNC messages received matches the value of this OD. If the value of Synchronous counter overflow OD [1019h, 00h] is not 00h, this unit sends TPDO messages when the value of SYNC counter (Cn) is a multiple of the value of this OD. When the value of this OD is FEh, the transmission type is timer event mode. In timer event mode, the TPDO is output by the setting of sensor sample rate OD[2001h,00h] .

Restriction Only OD[1800h,02h] setting is programmable. OD[1801h,02h], OD[1802h,02h] and OD[1803h,02h] are set automatically. OD[2005h,00h] should be set to apply these parameters.

A.2.1.18 TPDO1 mapping

Index Sub Data type Access type Default value Save

1A00h 01h 02h UNSIGNED32 const 9130 0110h

9130 0210h -

Function TPDO1 mapping

Data field bit7-0: data size [bit] bit15-8: sub-index bit31-16: index

Description

The parameters of TPDO1. Parameter1=Ax: AI input PV 1 OD[9130h,01h] Parameter2=Ay: AI input PV 2 OD[9130h,02h] The mapping is fixed.




2100 0010h -



Description The parameters of TPDO2. Parameter1=Az: AI input PV 4 OD[9130h,03h]



Parameter2=Sc: Sample counter OD[2100h,00h] The mapping is fixed.




2101 0220h -



Description

The parameters of TPDO3. Parameter1=Dy: Time of day OD[2101h,01h] Parameter2=Ms: Time difference OD[2101h,02h] The mapping is fixed.


Index Sub Data type Access type Default value Save 1A03h 01h UNSIGNED32 const 9130 0420h - Function TPDO4 mapping


Description The parameters of TPDO4. Parameter1=Tmp: Temperature OD[9130h,04h] The mapping is fixed.

A.2.1.22 NMT startup mode

Index Sub Data type Access type Default value Save 1F80h 00h UNSIGNED32 rw 0000 0008h # Function NMT startup mode

Data field

bit1-0: (fixed 0) bit2: startup mode 0=enter operational mode autonomously 1=stay pre-operational mode bit3: (fixed 1) bit31-4: (fixed 0)

Description This OD sets the NMT state after bootup of the sensor node. If bit 2 of this OD is 0, the sensor node will go to operational state after bootup. There is 3 seconds maximum interval from pre-operational mode to operational mode.



A.2.2. MANUFACTURE PROFILE

A.2.2.1 CAN node-ID

Index Sub Data type Access type Default value Save 2000h 01h UNSIGNED8 rw 01h # Function CAN node-ID

Data field bit7-0: CAN node-ID 01h-7Fh=node-ID otherwise=reserved

Description

This OD allows the user to set and read the node-ID. Writing to this parameter does not take effect until the sensor unit is rebooted or the reset node command is received. The host device is required to send a save command to make the change permanent.

Restriction This parameter can only be modified when the sensor unit is in pre-operational mode.

A.2.2.2 CAN bitrate

Index Sub Data type Access type Default value Save 2000h 02h UNSIGNED8 rw 00h # Function CAN bitrate

Data field

bit7-0: CAN bitrate 00h=1Mbps 01h=800kbps 02h=500kbps 03h=250kbps 04h=125kbps 05h=50kbps 06h=20kbps 07h=10kbps otherwise=reserved

Description

This OD allows the user to set and read the CAN bitrate. Writing to this parameter does not take effect until the sensor unit is rebooted or the reset node command is received. The host device is required to send a save command to make the change permanent.

Restriction This parameter can only be modified when the sensor unit is in pre-operational mode.

A.2.2.3 Timer interval

Index Sub Data type Access type Default value Save 2001h 00h UNSIGNED32 rw 0000 0002h #



Function Timer intervals

Data field bit15-0 timer interval (0=disable, 1-65535=interval time) bit31-16 (reserved)

Description

This OD allows the user to set and read the timer intervals. The valid values for bit15-0 are 2, 5, 10, or 20

Interval Sampling rate 2(msec) 500sps

5(msec) 200sps 10(msec) 100sps 20(msec) 50sps All other values are invalid

Restriction

OD[2005h,00h] should be set to apply these parameters. This parameter can only be modified when the sensor unit is in pre-operational mode. After the timer interval is set, the internal filter cutoff frequency is reset to default setting. When the timer interval is set, also the AI filter tap should be set again.(Refer to 6.4.4 INTERNAL FILTER)

A.2.2.4 Apply parameters

Index Sub Data type Access type Default value Save 2005h 00h UNSIGNED8 rw 10h # Function Set sensor type and apply parameters

Data field

bit7-4: application control 0h=apply parameters with unchanged sensor type 1h=apply parameters as Accelerometer 2h=apply parameters as Tilt angle sensor otherwise=ignore bit3-0: (0=read / 1=write / otherwise=ignore)

Description

This OD allows the user to set the sensor type and apply parameters of associated measurement as follows, - TPDO1 transmission type OD[1800h,02h] - Timer interval OD[2001h,00h] - Filter tap constant1[61A1h,01h] 1xh: Accelerometer 2xh: Tilt angle sensor This parameter can be saved by the Save all parameters command.

Restriction

This parameter can only be modified when the sensor unit is in pre-operational mode.

A.2.2.5 User defined filter parameter set


2007h 00h UNSIGNED8 rw 00h - Function Load or save the user defined filter (UDF) parameters



Data field

bit7-0: application control 11h = UDF Load Load UDF parameter 21h = UDF Save Save UDF parameter

otherwise=ignore When command execution completes successfully Return value is rewritten from x1h ⇒ x0h

When command execution ends abnormally Return value is rewritten from x1h ⇒ x8h

Description

Executes commands to transfer the UDF parameter data stored between the RAM work area and the user-defined filter (UDF) parameter area in non-voltatile memory. The command execution involves internal memory transfers, and requires a certain amount of processing time. After the command is executed normally, the least significant bit (b0 bit) is cleared to provide indication that the processing has completed. When the command ends abnormally, b3 bit (x8h) is set. To subsequently enable the current UDF filter settings, OD[61A1h, 01] must be set to a user-defined filter setting. To transfer UDF parameter data between the host and the RAM work area use OD[2008h].

Restriction The commands of this OD can only be executed in pre-operational mode. (In case of violation, 0x08000022 will be returned).

A.2.2.6 UDF host interface (Number of tap)


2008h 01h UNSIGNED16 rw 0000h #

Function Set the valid tap number of the user-defined filter (UDF) coefficients to be secured in the RAM work area.

Data field

Bit[15:0] 0000h UDF disabled 0004h UDF tap number 4 0040h UDF tap number 64 0080h UDF tap number 128 0200h UDF tap number 512 ffffh UDF not set

Description Set the UDF tap number as listed in the Data field. When data is saved in the UDF valid area (non-volatile area), the tap number of the saved UDF coefficient is returned.

Restriction

Accessing this OD is only valid in pre-operational mode. (In case of violation, 0x08000022 will be returned) Settings other than the tap number listed in the Data field is not valid. (0x06090030 will be returned upon violation)

A.2.2.7 UDF host interface (Current address index)


2008h 02h UNSIGNED16 rw 0000h

Function Set or return the index of the user-defined filter (UDF) FIR coefficient array area prepared in the RAM work area.



Data field

Bit[15:0] 0000h Start address h(0)⇒h(511)max

Description

When reading: Returns the currently set UDF parameter index When writing: Set the desired UDF parameter index This index is incremented by 1 each time parameter reading / writing is performed with OD [2008h, 03h]

Restriction

This OD can only be changed in pre-operational mode. (In case of violation, 0x08000022 will be returned) An index that exceeds the tap size set in OD [2008h, 01h] cannot be specified. (0x06090030 will be returned upon violation) If OD [2008h, 01] is 0 (UDF disabled), writing is not possible. (0x06090030 will be returned upon violation)

A.2.2.8 UDF host interface (Read/Write data)


2008h 03h INTEGER32 rw 0000 0000h Function Read or write FIR coefficients of user-defined filter (UDF) in 32bit data units

Data field

Bit[31:0] Set FIR coefficient in 32 bits （start adress h0）

Description

When reading: Read FIR coefficient data of the index in the RAM work area specified by OD [2008h, 02h]

When writing: Write the FIR coefficient data to the index set in OD [2008h, 02h] to the RAM work area.

When current reading or writing is completed, the index set by OD [2008h, 02h] is automatically incremented. If the maximum number of taps is reached, the index will return to 0.

Restriction

This OD can only be changed in pre-operational mode. (In case of violation, 0x08000022 will be returned) If OD [2008h, 01] is 0 (UDF disabled), writing is not possible. (0x06090030 will be returned upon violation)

A.2.2.9 Sample counter

Index Sub Data type Access type Default value Save 2100h 00h UNSIGNED16 Rw 0000h - Function Value of the trigger counter



Data field bit15-0: count value (0 to 65535)

Description The value of the trigger counter is incremented by 1 when the sensor node receives a trigger (SYNC message or timer event). By setting this OD to some value, the trigger counter will start from that value.

A.2.2.10 Time of day

Index Sub Data type Access type Default value Save 2101h 01h UNSIGNED16 ro Indefinite - Function current date Data field bit15-0: the elapsed days from 1.Jan,1984 Description This OD represents the current date.

A.2.2.11 Time difference

Index Sub Data type Access type Default value Save 2101h 02h UNSIGNED32 ro indefinite - Function current time (milliseconds)

Data field bit3-0: (fixed 0) bit31-4: the elapsed milli-second from 0:00am(midnight)

Description This parameter represents the current local time.



A.2.3. MEASURING DEVICE PROFILE(DS-404)

A.2.3.1 AI sensor type 1-3


6110h

01h 02h 03h 04h

UNSIGNED16 const

2905h 2905h 2905h 0064h

-

Function The sensor type of analog input 1-4.

Data field bit15-0: sensor type 2905h(10501)=accelerometer (manufacture specific) 0064h(100)=temperature

A.2.3.2 AI input PV 1-3(Ax/Ay/Az)


9130h

01h 02h 03h 04h

INTEGER32 ro indefinite -

Function 01-03h: Measurement value of analog input PV1-3 (Ax/Ay/Az) 04h: Measurement value of internal temperature (24bit)

Data field bit15-0: process value (fixed point)

Description

This OD shows the value of 3 axis accelerometer or tilt angle sensor and temperature. The sensor type can be set by Apply parameters command. (refer to A.2.2.4) Accelerometer The format is Q24 signed 32bit fixed point format. When the data is a negative number, it is represented in 2’s complement.

Unit: G bit31: sign(+/-) bit30-24: integer bit23-0: fraction

Note) When the combination of output rate and filter cutoff frequency is "abnormal setting", reading acceleration sensor value responds with error code "0x64000000"

Note) When the acceleration value exceeds the preset threshold value, reading acceleration value responds with the threshold value. For example, if the preset threshold values are set to +15 G and -15 G, the corresponding response is “0x0F000000” for +15 G or more, and “0xF1000000” for -15 G or less.

Tilt angle sensor The tilt angle data format is Q29 signed 32bit fixed point format. When the data is a negative number, only the integer part is represented in 2’s complement.

Unit: radian bit31: sign(+/-) bit30-29: integer bit28-0: fraction



Note) When the combination of output rate and filter cutoff frequency is "abnormal setting", reading tilt angle sensor value responds with error code "0x64000000"

Note) When the tilt angle value exceeds the dynamic range (±60 deg), reading tilt angle value responds with the value of +60 deg or -60 deg. For example, the corresponding response is “0x2182A470” for +60 deg or more, and “0xDE7D5B90” for - 60 deg or less.

Temperature The temperature data is represented in 32-bit two’s complement binary format. Please refer to the below formula for conversion to temperature in centigrade. Please refer to Table 2.3 Sensor Specification for the scale factor value. The reference value in this register is for the temperature correction. There is no guarantee that the value provides the absolute value of the internal temperature. T []= SF * a + 34.987

SF: Scale Factor A: Temperature sensor output data (decimal)

The temperature data is reference data and not guaranteed for accuracy.

A.2.3.3 AI physical unit PV 1-3

A.2.3.4 Al filter type 1-4

A.2.3.5 Al filter tap constant


6131h

01h 02h 03h 04h

UNSIGNED32 const

00F1 0000h 00F1 0000h 00F1 0000h 002D 0000h

-

Function The unit of analog input 1-3.

Data field bit31-0: physical unit 00F1 0000h: G (manufacture specific)


61A0h

01h 02h 03h 04h

UNSIGNED8 const

02h 02h 02h 00h(reserved)

-

Function The filter type of analog input 1-4.

Data field Bit7-0: filter type 02h: Kaiser filter


61A1h 01h 02h 03h

UNSIGNED8 rw ro ro

09h 09h 09h

#



04h ro 09h Function The filter cut off frequency of analog input.

Data field

Bit7-0: filter tap constant 0000: Reserved 0001: FIR Kaiser Filter TAP=64、fc=83 0010: FIR Kaiser Filter TAP=64、fc=220 0011: FIR Kaiser Filter TAP=128、fc=36 0100: FIR Kaiser Filter TAP=128、fc=110 0101: FIR Kaiser Filter TAP=128、fc=350 0110: FIR Kaiser Filter TAP=512、fc=9 0111: FIR Kaiser Filter TAP=512、fc=16 1000: FIR Kaiser Filter TAP=512、fc=60 1001: FIR Kaiser Filter TAP=512、fc=210 1010: FIR Kaiser Filter TAP=512、fc=460 1011: User Defined FIR Filter TAP=4 1100: User Defined FIR Filter TAP=64 1101: User Defined FIR Filter TAP=128 1110: User Defined FIR Filter TAP=512 1111: not used

Description

This parameter is applied for analog input 1-4. User-defined filter only accepts the same TAP settings in OD [2008h, 01h] When using a user-defined filter, set the user-defined filter first before setting this OD. Refer to section A.2.2.2 UDF host interface (Number of tap) for details. Regarding user-defined filters, the user must ensure the UDF cutoff characteristics is consistent with sampling theorem based on the sampling rate (timer period).

Restriction

This parameter can only be changed in the pre-operational mode. OD[2005h,00h] should be set to apply these parameters. The proper value depends on timer interval setting, refer to 6.4.4 INTERNAL FILTER. When the timer interval is changed, this parameter must be set again.

OVERVIEW3rd PARTY LICENSE


9 3rd PARTY LICENSE

This product contains FreeRTOSTM software developed by Real Time Engineers Ltd. (http://www.freertos.org/) 'FreeRTOS V7.1.1’ - Copyright (C) 2012 Real Time Engineers Ltd. FreeRTOSTM is Trademark of Real Time Engineers Ltd. Here is the notice of FreeRTOS TM License.

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License** as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA

Here is the FreeRTOSTM GPL Exception Text.

The FreeRTOS GPL Exception Text: Any FreeRTOS source code, whether modified or in its original release form, or whether in whole or in part, can only be distributed by you under the terms of the GNU General Public License plus this exception. An independent module is a module which is not derived from or based on FreeRTOS. Clause 1: Linking FreeRTOS statically or dynamically with other modules is making a combined work based on FreeRTOS. Thus, the terms and conditions of the GNU General Public License cover the whole combination. As a special exception, the copyright holder of FreeRTOS gives you permission to link FreeRTOS with independent modules that communicate with FreeRTOS solely through the FreeRTOS API interface, regardless of the license terms of these independent modules, and to copy and distribute the resulting combined work under terms of your choice, provided that + Every copy of the combined work is accompanied by a written statement that details to the recipient the version of FreeRTOS used and an offer by yourself to provide the FreeRTOS source code (including any modifications you may have made) should the recipient request it. + The combined work is not itself an RTOS, scheduler, kernel or related product. + The independent modules add significant and primary functionality to FreeRTOS and do not merely extend the existing functionality already present in FreeRTOS.

3rd PARTY LICENSE


Clause 2: FreeRTOS may not be used for any competitive or comparative purpose, including the publication of any form of run time or compile time metric, without the express permission of Real Time Engineers Ltd. (this is the norm within the industry and is intended to ensure information accuracy).

This product contains CanFestival Master/slave CANopen Library software developed by Francis DUPIN (LIVIC), Edouard TISSERANT and Laurent BESSARD. (http://www.canfestival.org/) CanFestival Master/slave CANopen Library Copyright (C): Francis DUPIN (LIVIC), Edouard TISSERANT and Laurent BESSARD Here is the notice of CanFestival Master/slave CANopen Library license.

This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA

OVERVIEWStandards and Approvals


10 Standards and Approvals

The following standards are applied only to the unit that are labeled. (EMC is tested using the EPSON power supplies) Europe: CE marking

10.1 NOTICE

This is a Class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures. The connection of a non-shielded interface cable to this product will invalidate the EMC standards of the device. Any changes or modifications not expressly approved by Seiko Epson Corporation could void your authority to operate the equipment.

10.2 CE marking

This product conforms to the following Directives and Norms, EN61326-1 Class A EN50581

10.3 RoHS & WEEE

The crossed out wheeled bin label that can be found on your product indicates that this product should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product from other waste streams to ensure that it can be recycled in an environmentally sound manner. For more details on available collection facilities please contact your local government office or the retailer where you purchased this product. AEEE Yönetmeliğine Uygundur. Обладнання відповідає вимогам Технічного регламенту обмеження використання деяких небезпечних речовин в електричному та електронному обладнанні

10.4 FCC Compliance Statement for American users

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) This device must accept any interference received, including interference that may cause undesired

operation. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

10.5 Industry ICES Compliance Statement for Canadian users

CAN ICES-3(A)/NMB-3(A)

REVISION HISTORY


11 REVISION HISTORY

Rev. No. Date Page Category Contents Rev. 20191015 2019/10/15 All New Preliminary

International Sales Operations

AMERICA EPSON AMERICA, INC. http://epson.com/microdevices 214 Devcon Drive, San Jose, CA 95112, U.S.A. Phone: +1-800-228-3964, FAX: +1-408-922-0238 EUROPE EPSON EUROPE ELECTRONICS GmbH http://www.epson-electronics.de/ Riesstrasse 15, 80992 Munich, GERMANY Phone: +49-89-14005-0, FAX: +49-89-14005-110

ASIA EPSON (CHINA) CO., LTD. http://www.epson.com.cn/ 4F,Tower 1 of China Central Place,81 Jianguo Street, Chaoyang District, Beijing 100025 CHINA TEL +86-400-810-9972 X ext.2, Mail [email protected] EPSON TAIWAN TECHNOLOGY & TRADING LTD. http://www.epson.com.tw/ 15F., No.100, Songren Rd., Xinyi Dist., Taipei City 11073,TAIWAN (R.O.C.) TEL +886-2-8786-6688, Fax +886-2-8786-6600

SEIKO EPSON CORP. KOREA OFFICE http://www.epson-device.co.kr/ 19F,(63Bldg.,Yoido-dong) 50, 63-ro, Yeongdeungpo-gu, Seoul, 07345, KOREA TEL +82-2-784-6027, Fax +82-2-767-3677 EPSON SINGAPORE PTE. LTD. http://www.epson.com.sg/ 1 HarbourFront Place, #03-02 HarbourFront Tower One, SINGAPORE 098633. TEL +65-6586-5500, FAX +65-6271-3182

JAPAN & Other Countries SEIKO EPSON CORP. MSM BUSINESS PROJECT http://www.epson.jp/prod/sensing_system/

http://global.epson.com/products_and_drivers/sensing_system/

281, Fujimi, Fujimi-cho, Nagano 399-0293, JAPAN

Phone: +81-266-61-0614, FAX: +81-266-61-2045

Document Code: 3Z60-0066-01E Preliminary Issue, Oct 2019

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